Abstract
In this chapter, we consider the design of spatial serial chains that guide a body such that a point in the body moves on a specific algebraic surface. The problem originates with Schoenflies [113], who sought points that remained in a given configuration for a given set of spatial displacements. Burmester [7] applied this idea to planar mechanism design by seeking the points in a planar moving body that remain on a circle. Chen and Roth [10] generalized this problem to find points and lines in a moving body that take positions on surfaces associated with the articulated chains used to build robot manipulators.
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© 2011 Springer New York
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McCarthy, J.M., Soh, G.S. (2011). Synthesis of Spatial Chains with Reachable Surfaces. In: Geometric Design of Linkages. Interdisciplinary Applied Mathematics, vol 11. Springer, New York, NY. https://doi.org/10.1007/978-1-4419-7892-9_14
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DOI: https://doi.org/10.1007/978-1-4419-7892-9_14
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Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4419-7891-2
Online ISBN: 978-1-4419-7892-9
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